version: 66.14
glider: 195
mission: 15
dive: 687
start: 2 26 118 15 31 2
data:
$ID,195
$MISSION,15
$DIVE,687
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,90
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59282
$MASS_COMP,3973.1001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2812
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,1843
$C_ROLL_CLIMB,1843
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2247
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.356163
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043781498
$SEABIRD_T_H,0.00063190429
$SEABIRD_T_I,2.5428115e-05
$SEABIRD_T_J,2.9111013e-06
$SEABIRD_C_G,-9.7135391
$SEABIRD_C_H,1.1137754
$SEABIRD_C_I,-0.0016462026
$SEABIRD_C_J,0.00020008108
$SEABIRD_C_Z,2957.3201
$GPS1,260218,152532,4738.3330,-12253.8770,9,1.4,34,16.4,0.4,66.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.7
$GPS2,260218,153022,4738.3447,-12253.8037,6,1.1,15,16.4,0.0,0.0,10,4.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE2S
$TGT_LATLONG,4737.883,-12254.600
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,212.7,1311,-13.1,-10.000,-17.32,3645
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.79,-244.4,169,1858,559,488,0.0,0.0,0,53,0.00,0.00,-40.58,0.000,16386,0.000,0.000,169,1858,1498,1540,1457,0,0,0,0,0,0,26.38,28.83,26.39,8.31,49.01
$GC,56,-0.79,-244.4,169,1858,1540,1459,2.1,-2.2,6,133,9.07,2.22,-57.50,0.000,19204,0.194,0.051,2543,3239,3245,3310,3180,0,0,0,0,0,0,24.98,23.53,25.34,8.40,49.96
$GC,146,-0.62,-244.4,2543,3239,3308,3180,8.6,-14.0,19,155,0.20,2.15,0.00,0.000,3078,0.113,0.027,2606,1836,3244,3309,3180,0,0,0,0,0,0,25.23,25.77,25.29,8.56,48.38
$GC,220,-0.55,-244.4,2606,1835,3310,3180,19.7,-14.0,32,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1836,3245,3310,3181,0,0,0,0,0,0,26.44,26.45,26.44,8.56,48.30
$GC,286,-0.55,-244.4,2606,1836,3310,3180,29.6,-15.0,39,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1836,3245,3310,3181,0,0,0,0,0,0,26.45,26.46,26.46,8.55,49.01
$GC,405,-0.55,-244.4,2606,1836,3311,3181,45.3,-12.3,51,415,0.00,2.20,0.00,0.000,260,0.000,0.039,2599,3231,3245,3310,3180,0,0,0,0,0,0,26.46,25.47,26.48,8.55,49.64
$GC,442,-0.55,-244.4,2599,3232,3310,3180,49.2,-12.0,54,450,0.10,2.12,0.00,0.000,3078,0.099,0.027,2635,1849,3245,3310,3181,0,0,0,0,0,0,25.44,25.71,25.48,8.55,49.80
$GC,569,-0.55,-244.4,2635,1849,3310,3180,62.6,-9.8,67,579,0.00,2.22,0.00,0.000,516,0.000,0.039,2635,452,3245,3310,3181,0,0,0,0,0,0,26.48,25.39,26.48,8.55,50.19
$GC,623,-0.55,-244.4,2634,451,3310,3180,68.0,-9.6,72,628,0.00,2.15,0.00,0.000,1030,0.000,0.029,2632,1839,3245,3310,3180,0,0,0,0,0,0,25.75,25.66,25.78,8.56,50.00
$GC,757,-0.55,-244.4,2631,1838,3310,3180,81.0,-9.5,85,766,0.00,2.22,0.00,0.000,260,0.000,0.039,2621,3248,3245,3310,3181,0,0,0,0,0,0,26.48,25.41,26.49,8.56,50.51
$GC,802,-0.55,-244.4,2621,3248,3311,3181,85.1,-9.4,89,810,0.00,2.15,0.00,0.000,1030,0.000,0.027,2621,1846,3245,3310,3181,0,0,0,0,0,0,25.75,25.70,25.77,8.55,49.88
$GC,930,-0.55,-244.4,2621,1845,3310,3180,98.2,-9.8,102,935,0.00,2.22,0.00,0.000,516,0.000,0.039,2621,447,3245,3310,3180,0,0,0,0,0,0,26.48,25.33,26.49,8.55,50.11
$GC,977,-0.55,-244.4,2620,446,3310,3180,103.1,-11.2,106,985,0.00,2.20,0.00,0.000,1030,0.000,0.030,2613,1846,3245,3310,3180,0,0,0,0,0,0,25.68,25.65,25.71,8.56,49.72
$GC,1167,-0.55,-244.4,2612,1846,3310,3180,122.6,-10.4,125,1171,0.00,2.22,0.00,0.000,260,0.000,0.038,2604,3246,3245,3310,3180,0,0,0,0,0,0,26.48,25.39,26.49,8.56,50.27
$GC,1204,-0.55,-244.4,2603,3246,3310,3180,126.5,-10.5,128,1212,0.08,2.17,0.00,0.000,3078,0.104,0.027,2632,1835,3245,3310,3181,0,0,0,0,0,0,25.44,25.67,25.47,8.56,50.35
$GC,1393,-0.60,-244.4,2632,1834,3310,3181,143.4,-8.4,147,1402,0.00,2.17,0.00,0.000,516,0.000,0.041,2632,457,3245,3310,3180,0,0,0,0,0,0,26.48,25.29,26.50,8.56,50.94
$GC,1418,-0.65,-244.4,2632,457,3310,3180,145.5,-8.6,149,1425,0.00,2.17,0.00,0.000,1030,0.000,0.029,2627,1842,3245,3310,3181,0,0,0,0,0,0,25.66,25.63,25.68,8.57,50.59
$STATE,1494,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1494,begin apogee
$GC,1500,-0.21,0.0,2627,1842,3309,3180,152.9,-9.2,157,1696,0.30,0.00,191.73,0.659,10246,0.090,0.000,2741,1842,2246,2374,2118,0,0,0,0,0,0,25.46,24.78,24.06,8.57,50.59
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1700,0.79,244.4,2741,1842,2375,2117,160.0,0.0,177,1917,0.88,2.30,201.38,0.646,10756,0.067,0.041,3063,449,1249,1352,1146,0,0,0,0,0,0,25.03,24.63,23.89,8.49,48.93
$GC,1975,0.71,244.4,3062,449,1351,1143,133.1,14.0,204,1984,0.00,2.22,0.00,0.000,1030,0.000,0.028,3063,1843,1247,1351,1143,0,0,0,0,0,0,25.39,25.35,25.41,8.40,48.18
$GC,2163,0.62,244.4,3062,1843,1351,1140,106.9,13.3,223,2174,0.12,2.20,0.00,0.000,4612,0.127,0.038,3026,456,1246,1351,1141,0,0,0,0,0,0,25.74,25.46,25.75,8.40,49.52
$GC,2199,0.56,244.4,3025,456,1351,1140,102.7,12.6,226,2209,0.10,2.15,0.00,0.000,5126,0.122,0.028,2992,1849,1245,1351,1139,0,0,0,0,0,0,25.51,25.73,25.58,8.41,49.17
$GC,2390,0.56,244.4,2991,1849,1350,1139,86.2,8.2,245,2400,0.00,2.25,0.00,0.000,516,0.000,0.041,3000,445,1245,1351,1139,0,0,0,0,0,0,26.44,25.46,26.44,8.41,50.27
$GC,2416,0.56,244.4,2999,445,1351,1138,84.1,8.1,247,2424,0.00,2.17,0.00,0.000,1030,0.000,0.028,3000,1839,1245,1351,1139,0,0,0,0,0,0,25.79,25.77,25.82,8.41,50.03
$GC,2545,0.56,244.4,2999,1839,1352,1139,72.6,8.5,260,2555,0.00,2.22,0.00,0.000,260,0.000,0.037,3000,3256,1245,1351,1139,0,0,0,0,0,0,26.46,25.53,26.46,8.41,50.94
$GC,2569,0.56,244.4,3000,3256,1351,1139,70.4,9.1,262,2579,0.00,2.15,0.00,0.000,1030,0.000,0.028,3001,1837,1245,1351,1139,0,0,0,0,0,0,25.75,25.72,25.79,8.40,50.55
$GC,2700,0.56,244.4,3000,1837,1350,1140,59.1,8.9,275,2709,0.00,2.22,0.00,0.000,516,0.000,0.041,3001,448,1245,1351,1139,0,0,0,0,0,0,26.47,25.40,26.48,8.40,50.11
$GC,2778,0.56,244.4,3000,448,1351,1139,52.7,8.4,282,2786,0.00,2.17,0.00,0.000,1030,0.000,0.028,3001,1843,1245,1351,1139,0,0,0,0,0,0,25.77,25.75,25.80,8.39,49.64
$GC,2907,0.56,244.4,3000,1843,1351,1139,42.1,8.2,295,2916,0.00,2.20,0.00,0.000,260,0.000,0.037,3001,3246,1245,1351,1139,0,0,0,0,0,0,26.48,25.49,26.48,8.39,49.88
$GC,2923,0.64,316.0,3000,3246,1351,1139,41.4,8.0,296,2991,0.00,2.17,60.20,0.593,9222,0.000,0.028,3001,1839,956,1046,867,0,0,0,0,0,0,25.75,25.71,24.49,8.40,50.63
$GC,3111,0.80,421.1,3000,1839,1045,865,26.4,7.0,315,3180,0.12,2.30,62.05,0.557,10756,0.063,0.041,3133,445,526,569,483,0,0,0,0,0,0,26.06,25.18,24.46,8.37,50.07
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3264,begin surface coast
$FINISH,0.6,1.021193
$STATE,3281,end surface coast,CONTROL_FINISHED_OK
$STATE,3281,begin surface
$SM_CCo,3361,0.00,0.000,0,0,516,424.61
$SM_GC,1.69,7.70,2.22,0.00,0.027,0.026,0.000,185,1845,516,-8.06,-1.30,424.61,0,0,0,0,0,0,25.81,25.70,25.85
$IRIDIUM_FIX,4742.71,-12447.98,260218,142312
$TT8_MAMPS,0.026964,0.241927
$HUMID,49.17
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,17.4
$ALTIM_BOTTOM_PING,135.4,26.6
$24V_AH,23.53,107.238
$10V_AH,9.85,71.055
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.675,61.600,515.350,0.000,0.000,0.000,0.000,188.850,2.750,0.000,16.795,819.675,1074.763,529.578,1096.782,153.260,0.000,1260.489,0.000,712.418,0.000,21.148,0.000
$DEVICE_MAMPS,194.310,51.255,659.430,0.000,0.000,0.000,0.000,82.620,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.063,734.221,445.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,24568,341
$CAP_FILE_SIZE,61319,0
$CFSIZE,2097872896,2027159552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,60.93,1
$GPS,260218,162757,4738.149,-12254.352,6,1.1,13,16.4,0.0,0.0,10,5.0